cmake_minimum_required(VERSION 3.5)
project(controller_msgs)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)

find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(action_msgs REQUIRED)  # ROS 2 替代 actionlib_msgs
# find_package(moveit_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)

find_package(rviz_common REQUIRED)
find_package(rviz_default_plugins REQUIRED)
find_package(rviz_rendering REQUIRED)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

file(GLOB msg_files RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "msg/*.msg")  # 匹配 msg/ 下所有 .msg 文件
file(GLOB srv_files RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "srv/*.srv")

find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
    ${msg_files}
    ${srv_files}
    DEPENDENCIES std_msgs geometry_msgs
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
